Design and Evaluation of High-order Non-commutativity Error Compensation Algorithm in Dynamics

Maosong Wang, Wenqi Wu, Xiaofeng He

Abstract: A new attitude updating algorithm is designed which considers the high-order terms of the rotation vector. A novel rotation vector calculating structure is proposed, in which the second-order coning correction is calculated using a downsumming structure at a fast updating rate, while the third-order and the fourth-order coning corrections are calculated at a slower rate than the second-order coning calculation. Simulations based on the simulated data and real experiment data are carried out to evaluate the performance of the new algorithm and the traditional algorithm. The results of the simulated large amplitude pure coning environment show that the attitude error of the traditional algorithm is extremely large especially when there is non-integer-period cone motion occur for the platform. However, the proposed algorithm can overcome this large error. Twenty minutes' simulation by post-processing the real experiment data shows that, the accuracy of the proposed algorithm has no advantage over the traditional algorithm in the small amplitude pure angular vibration environment and pure large angular rate maneuvering environment. But, in large amplitude pure angular vibration environment and large angular rate maneuvering with angular rate vibration coexisting environment, the proposed algorithm perform better adaptability and has higher accuracy. Especially when the platform is in severe angular vibration and large angular rate coexisting environment, the advantage of the high-order algorithm is more distinct.
Published in: 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 23 - 26, 2018
Hyatt Regency Hotel
Monterey, CA
Pages: 34 - 41
Cite this article: Wang, Maosong, Wu, Wenqi, He, Xiaofeng, "Design and Evaluation of High-order Non-commutativity Error Compensation Algorithm in Dynamics," 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2018, pp. 34-41.
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